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Timestamp:
05/04/08 13:43:24 (5 months ago)
Author:
otter
Message:

- Bugs in MultiBody.Forces.WorldTorque and WorldForceAndTorque fixed

(resolveInFrame was not propagated).

- Release notes updated

Files:
1 modified

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Unmodified
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Removed

  • branches/maintenance/3.0/Modelica/Mechanics/MultiBody/Forces.mo

    r1050 r1112  
    280280      annotation (Dialog(group="if animation = true", enable=animation)); 
    281281 
    282     annotation (defaultComponentName="torque" 
    283       , 
     282    annotation (defaultComponentName="torque", 
    284283      Documentation(info="<HTML> 
    285284 
    … …  
    391390      r_head=-t_in_m) if world.enableAnimation and animation; 
    392391  public 
    393     Internal.BasicWorldTorque basicWorldTorque  
     392    Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)  
    394393      annotation (Placement(transformation(extent={{-10,-10},{10,10}}))); 
    395394  protected 
    … …  
    468467      annotation (Dialog(group="if animation = true", enable=animation)); 
    469468 
     469    Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)  
     470      annotation (Placement(transformation(extent={{18,-50},{38,-70}}))); 
     471    Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)  
     472      annotation (Placement(transformation(extent={{-10,50},{10,70}}))); 
     473 
    470474    annotation (defaultComponentName="forceAndTorque", 
    471475      Diagram(coordinateSystem(preserveAspectRatio=true,  extent={{-100,-100},{ 
    … …  
    581585        extent=[-100, -100; 100, 100], 
    582586        grid=[1, 1], 
    583         component=[20, 20]) 
    584       , 
     587        component=[20, 20]), 
    585588      Documentation(info=" 
    586589An external force element exerts the inport signal 
    … …  
    625628      r_tail=t_in_m, 
    626629      r_head=-t_in_m) if world.enableAnimation and animation; 
    627   public 
    628     Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)  
    629       annotation (Placement(transformation(extent={{18,-50},{38,-70}}))); 
    630     WorldTorque torque1  
    631       annotation (Placement(transformation(extent={{-10,50},{10,70}}))); 
    632   protected 
    633630    Interfaces.ZeroPosition zeroPosition if  
    634631         not (resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve)  
    … …  
    644641        color={0,0,127}, 
    645642        smooth=Smooth.None)); 
    646     connect(torque1.frame_b, frame_b) annotation (Line( 
     643    connect(basicWorldTorque.frame_b, frame_b)  
     644                                      annotation (Line( 
    647645        points={{10,60},{60,60},{60,0},{100,0}}, 
    648646        color={95,95,95}, 
    649647        thickness=0.5, 
    650648        smooth=Smooth.None)); 
    651     connect(torque1.torque, torque) annotation (Line( 
     649    connect(basicWorldTorque.torque, torque)  
     650                                    annotation (Line( 
    652651        points={{-12,60},{-120,60}}, 
    653652        color={0,0,127}, 
    … …  
    658657        pattern=LinePattern.Dot, 
    659658        smooth=Smooth.None)); 
    660     connect(torque1.frame_resolve, frame_resolve) annotation (Line( 
     659    connect(basicWorldTorque.frame_resolve, frame_resolve)  
     660                                                  annotation (Line( 
    661661        points={{0,70},{0,100}}, 
    662662        color={95,95,95}, 
    663663        pattern=LinePattern.Dot, 
    664664        smooth=Smooth.None)); 
    665     connect(zeroPosition.frame_resolve, torque1.frame_resolve) annotation (Line( 
     665    connect(zeroPosition.frame_resolve, basicWorldTorque.frame_resolve)  
     666                                                               annotation (Line( 
    666667        points={{58,80},{0,80},{0,70}}, 
    667668        color={95,95,95}, 
    … …  
    14141415      "Unit vector in direction from frame_a to frame_b, resolved in world frame"; 
    14151416    annotation ( 
    1416        
    14171417      Icon(coordinateSystem( 
    14181418          preserveAspectRatio=true, 
    … …  
    15341534            fillPattern=FillPattern.Solid), 
    15351535          Line(points={{-60,0},{-31,0}}, color={0,0,255}), 
    1536           Polygon(points={{-19,0},{-31,3},{-31,-3},{-19,0}}, lineColor={0,0,255}), 
     1536          Polygon(points={{-19,0},{-31,3},{-31,-3},{-19,0}}, lineColor={0,0,255}),  
     1537 
    15371538          Line(points={{-60,16},{0,16}}, color={0,0,255}), 
    15381539          Line(points={{0,0},{0,20}}, color={0,0,255}), 
    … …  
    15411542            lineColor={0,0,0}, 
    15421543            textString="e_rel_0"), 
    1543           Polygon(points={{0,16},{-12,19},{-12,13},{0,16}}, lineColor={0,0,255}), 
     1544          Polygon(points={{0,16},{-12,19},{-12,13},{0,16}}, lineColor={0,0,255}),  
     1545 
    15441546          Text( 
    15451547            extent={{-50,35},{51,26}}, 
    … …  
    17711773      "Unit vector in direction from frame_a to frame_b, resolved in world frame"; 
    17721774    annotation ( 
    1773        
    17741775      Icon(coordinateSystem( 
    17751776          preserveAspectRatio=true, 
    … …  
    19191920          Line(points={{29,3},{29,22}}, color={0,0,255}), 
    19201921          Line(points={{29,16},{60,16}}, color={0,0,255}), 
    1921           Polygon(points={{29,16},{41,19},{41,13},{29,16}}, lineColor={0,0,255}), 
     1922          Polygon(points={{29,16},{41,19},{41,13},{29,16}}, lineColor={0,0,255}),  
     1923 
    19221924          Text( 
    19231925            extent={{15,36},{32,26}}, 
    … …  
    23132315    extends Interfaces.PartialLineForce; 
    23142316    annotation ( 
    2315        
    23162317      Documentation(info="<HTML> 
    23172318<p> 
    … …  
    24362437    extends Interfaces.PartialLineForce; 
    24372438    annotation ( 
    2438        
    24392439      Documentation(info="<HTML> 
    24402440<p> 
    … …  
    25442544    extends Interfaces.PartialLineForce; 
    25452545    annotation ( 
    2546        
    25472546      Documentation(info="<HTML> 
    25482547<p> 
    … …  
    26302629            lineColor={160,160,164}, 
    26312630            textString="s")})); 
     2631 
    26322632  equation 
    26332633    f = c*(s - s_unstretched - s_damper); 
    … …  
    26492649            rotation=90))); 
    26502650      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each 
    2651         final unit = "N") 
     2651          final unit="N") 
    26522652        "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame" 
    26532653        annotation (Placement(transformation( 
    … …  
    27852785 
    27862786      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each 
    2787         final unit = "N.m") 
     2787          final unit="N.m") 
    27882788        "x-, y-, z-coordiantes of torque resolved in frame defined by resolveInFrame" 
    27892789        annotation (Placement(transformation( 
    … …  
    29242924 
    29252925      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each 
    2926         final unit = "N") 
     2926          final unit="N") 
    29272927        "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame" 
    29282928        annotation (Placement(transformation(extent={{-140,-20},{-100,20}}, 
    … …  
    30323032 
    30333033      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each 
    3034         final unit = "N.m") 
     3034          final unit="N.m") 
    30353035        "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame" 
    30363036        annotation (Placement(transformation(extent={{-140,-20},{-100,20}},